ModularLift Class Reference

A modular controller for various lift mechanisms. More...

#include <modular_lift.h>

Public Member Functions
	ModularLift (const std::vector< LiftMotorConfig > &m_configs, LiftMechanism t, LiftConfig c)
	Construct a new ModularLift object.
	~ModularLift ()
	Destroy the ModularLift object.
float	getLiftRadians (float motor_degrees)
	Convert raw motor degrees into lift arm radians (or meters for cascade).
void	setPayload (float mass_kg)
	Set the mass of the current payload to update feed-forward calculations dynamically.
float	calculateFeedforward (float current_motor_degrees)
	Calculate the required feed-forward voltage to hold the lift at its current position.
void	moveTo (float target_motor_degrees)
	Command the lift to move to a target position.
void	cancel ()
	Cancel the current movement command.
void	waitUntilDone ()
	Block the current thread until the lift reaches its target position.
bool	isRunning ()
	Check if the lift is currently trying to reach a target position.

Detailed Description

A modular controller for various lift mechanisms.

Handles background task processing, feed-forward calculations based on physics, and LQR/state-feedback control for accurate positioning.

Definition at line 55 of file modular_lift.h.

Constructor & Destructor Documentation

ModularLift()

ModularLift::ModularLift	(	const std::vector< LiftMotorConfig > &	m_configs,
		LiftMechanism	t,
		LiftConfig	c
	)

Construct a new ModularLift object.

Parameters

m_configs	Vector of motor configurations for the lift.
t	The type of lift mechanism (e.g. FOUR_BAR, CASCADE).
c	The configuration containing physical constants and control gains.

~ModularLift()

ModularLift::~ModularLift

(

)

Destroy the ModularLift object.

Cleans up the background task and associated resources.

Member Function Documentation

getLiftRadians()

float ModularLift::getLiftRadians

(

float

motor_degrees

)

Convert raw motor degrees into lift arm radians (or meters for cascade).

Parameters

motor_degrees

The raw sensor value in degrees.

Returns

float The calculated position.

setPayload()

void ModularLift::setPayload

(

float

mass_kg

)

Set the mass of the current payload to update feed-forward calculations dynamically.

Parameters

mass_kg

Mass of the payload in kilograms.

calculateFeedforward()

float ModularLift::calculateFeedforward

(

float

current_motor_degrees

)

Calculate the required feed-forward voltage to hold the lift at its current position.

Parameters

current_motor_degrees

The current position of the lift.

Returns

float The calculated feed-forward voltage (in millivolts or specific units).

moveTo()

void ModularLift::moveTo

(

float

target_motor_degrees

)

Command the lift to move to a target position.

Parameters

target_motor_degrees

The target position in motor degrees.

cancel()

void ModularLift::cancel

(

)

Cancel the current movement command.

waitUntilDone()

void ModularLift::waitUntilDone

(

)

Block the current thread until the lift reaches its target position.

isRunning()

bool ModularLift::isRunning

(

)

Check if the lift is currently trying to reach a target position.

Returns

true if running, false otherwise.